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energy change

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This commit is contained in:
sun
2019-07-19 23:27:15 +08:00
parent cdc58c8e67
commit 39b32bf339
5 changed files with 16 additions and 9 deletions
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1
energy/src/energy/calculate/circle_calculate.cpp
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@@ -61,3 +61,4 @@ void Energy::circleLeastFit()
// cout << "The cycle center is: " << cycle_center << endl; // cout << "The cycle center is: " << cycle_center << endl;
// cout << "The radius is: " << radius << endl; // cout << "The radius is: " << radius << endl;
} }

1
energy/src/energy/clear/clear.cpp
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@@ -18,7 +18,6 @@ void Energy::clearAll(){
} }
//---------------------------------------------------------------------------------------------------------------------- //----------------------------------------------------------------------------------------------------------------------
// 此函数用于图像预处理 // 此函数用于图像预处理
// --------------------------------------------------------------------------------------------------------------------- // ---------------------------------------------------------------------------------------------------------------------

6
energy/src/energy/get/aim_point_get.cpp
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@@ -16,9 +16,9 @@ void Energy::getAimPoint(cv::Point target_point) {
// double dx = -(target_point.x - 320 - 10); // double dx = -(target_point.x - 320 - 10);
// double dy = -(target_point.y - 240 - 22); // double dy = -(target_point.y - 240 - 22);
//四号车 //四号车
double dx = -(target_point.x - 320 - 0); double dx = -(target_point.x - 320 - 5);
double dy = -(target_point.y - 240 - 69); double dy = -(target_point.y - 240 - 74);
yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI; yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI;
pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI; pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI;
cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl; // cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
} }

10
energy/src/energy/run.cpp
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@@ -101,17 +101,19 @@ void Energy::runBig(cv::Mat &gimbal_src) {
if (show_energy)showCenterR("R", gimbal_src); if (show_energy)showCenterR("R", gimbal_src);
changeTarget(); changeTarget();
getTargetPolarAngle(); getTargetPolarAngle();
// cout<<circle_center_point<<endl;
// cout << target_point << '\t' << target_polar_angle << endl; // cout << target_point << '\t' << target_polar_angle << endl;
// cout << circle_center_point<< endl; // cout << circle_center_point<< endl;
// judgeMode(); // judgeMode();
// if (energy_mode_init)return; // if (energy_mode_init)return;
if (!getOrigin())return; // if (!getOrigin())return;
if (energy_rotation_init) { if (energy_rotation_init) {
initRotation(); initRotation();
return; return;
} }
if (is_predicting) { if (is_predicting) {
getPredictPoint(target_point); getPredictPoint(target_point);
getAimPoint(predict_point); getAimPoint(predict_point);
@@ -144,7 +146,11 @@ void Energy::runSmall(cv::Mat &gimbal_src) {
if (show_energy)showArmors("armor", gimbal_src); if (show_energy)showArmors("armor", gimbal_src);
if (!findFlowStripFan(gimbal_src))return; if (!findFlowStripFan(gimbal_src))return;
if (!findTargetInFlowStripFan()) return; if (!findTargetInFlowStripFan()) return;
if (show_energy)showFlowStripFan("strip", gimbal_src); //
// if (!findCenterROI(gimbal_src))return;
// if (show_energy)showFlowStripFan("strip", gimbal_src);
// if (!findCenterR(gimbal_src))return;
// if (show_energy)showCenterR("R", gimbal_src);
changeTarget(); changeTarget();
// cout << "target point: " << target_point << endl; // cout << "target point: " << target_point << endl;

7
main.cpp
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@@ -64,8 +64,8 @@ int main(int argc, char *argv[]) {
video_gimbal = new CameraWrapper(0/*, "armor"*/); video_gimbal = new CameraWrapper(0/*, "armor"*/);
video_chassis = new CameraWrapper(1/*, "energy"*/); video_chassis = new CameraWrapper(1/*, "energy"*/);
} else { } else {
video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimbal106.avi"); video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimbal132.avi");
video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimbal106.avi"); video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimbal132.avi");
} }
if (video_gimbal->init()) { if (video_gimbal->init()) {
LOGM("video_gimbal source initialization successfully."); LOGM("video_gimbal source initialization successfully.");
@@ -110,7 +110,8 @@ int main(int argc, char *argv[]) {
if (!from_camera) extract(gimbal_src, chassis_src); if (!from_camera) extract(gimbal_src, chassis_src);
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频 if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像 if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
energy.runBig(gimbal_src, chassis_src); // energy.runBig(gimbal_src, chassis_src);
energy.runBig(gimbal_src);
last_state = mcuData.state;//更新上一帧状态 last_state = mcuData.state;//更新上一帧状态
} else if (mcuData.state == SMALL_ENERGY_STATE) { } else if (mcuData.state == SMALL_ENERGY_STATE) {
if (mcuData.state != SMALL_ENERGY_STATE) { if (mcuData.state != SMALL_ENERGY_STATE) {